split out gyro code
This commit is contained in:
@ -195,14 +195,13 @@ int main(void)
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}
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LOG_INF("Initialized %s", accel->name);
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gyro = accel; // FIXME: this is a hack while splitting apart BMX055
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// gyro = DEVICE_DT_GET(DT_NODELABEL(bmx055_gyro));
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// if (!device_is_ready(gyro))
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// {
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// LOG_ERR("Device %s not ready", gyro->name);
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// return 0;
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// }
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// LOG_INF("Initialized %s", gyro->name);
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gyro = DEVICE_DT_GET(DT_NODELABEL(bmx055_gyro));
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if (!device_is_ready(gyro))
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{
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LOG_ERR("Device %s not ready", gyro->name);
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return 0;
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}
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LOG_INF("Initialized %s", gyro->name);
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mag = accel; // FIXME: this is a hack while splitting apart BMX055
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// mag = DEVICE_DT_GET(DT_NODELABEL(bmx055_mag));
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@ -273,10 +272,10 @@ int main(void)
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LOG_ERR("Could not get acceleration");
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}
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// if (sensor_sample_fetch(gyro) < 0)
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// {
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// LOG_ERR("Could not fetch sample from gyro");
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// }
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if (sensor_sample_fetch(gyro) < 0)
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{
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LOG_ERR("Could not fetch sample from gyro");
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}
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if (sensor_channel_get(gyro, SENSOR_CHAN_GYRO_X, &gyro_x) < 0)
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{
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LOG_ERR("Could not get gyro");
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@ -352,11 +351,11 @@ int main(void)
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{
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LOG_ERR("Failed to print a string");
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}
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if (cfb_print(display, str_my, 0, 16))
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if (cfb_print(display, str_gy, 0, 16))
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{
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LOG_ERR("Failed to print a string");
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}
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if (cfb_print(display, str_mz, 0, 16 * 2))
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if (cfb_print(display, str_gz, 0, 16 * 2))
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{
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LOG_ERR("Failed to print a string");
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}
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@ -90,54 +90,6 @@ const uint8_t ACCEL_REG_TRIM_GP1 = 0x3C;
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const uint8_t ACCEL_REG_FIFO_CONFIG_1 = 0x3E;
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const uint8_t ACCEL_REG_FIFO_DATA = 0x3F;
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const uint8_t GYRO_REG_CHIP_ID = 0x00;
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const uint8_t GYRO_REG_RATE_X_LSB = 0x02;
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const uint8_t GYRO_REG_RATE_X_MSB = 0x03;
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const uint8_t GYRO_REG_RATE_Y_LSB = 0x04;
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const uint8_t GYRO_REG_RATE_Y_MSB = 0x05;
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const uint8_t GYRO_REG_RATE_Z_LSB = 0x06;
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const uint8_t GYRO_REG_RATE_Z_MSB = 0x07;
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const uint8_t GYRO_REG_INT_STATUS_0 = 0x09;
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const uint8_t GYRO_REG_INT_STATUS_1 = 0x0A;
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const uint8_t GYRO_REG_INT_STATUS_2 = 0x0B;
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const uint8_t GYRO_REG_INT_STATUS_3 = 0x0C;
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const uint8_t GYRO_REG_FIFO_STATUS = 0x0E;
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const uint8_t GYRO_REG_RANGE = 0x0F;
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const uint8_t GYRO_REG_BW = 0x10;
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const uint8_t GYRO_REG_LPM1 = 0x11;
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const uint8_t GYRO_REG_LPM2 = 0x12;
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const uint8_t GYRO_REG_RATE_HBW = 0x13;
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const uint8_t GYRO_REG_BGW_SOFTRESET = 0x14;
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const uint8_t GYRO_REG_INT_EN_0 = 0x15;
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const uint8_t GYRO_REG_INT_EN_1 = 0x16;
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const uint8_t GYRO_REG_INT_MAP_0 = 0x17;
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const uint8_t GYRO_REG_INT_MAP_1 = 0x18;
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const uint8_t GYRO_REG_INT_MAP_2 = 0x19;
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const uint8_t GYRO_REG_INT_SOURCE_1 = 0x1A;
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const uint8_t GYRO_REG_INT_SOURCE_2 = 0x1B;
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// const uint8_t GYRO_REG_ = 0x1C;
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// const uint8_t GYRO_REG_ = 0x1E;
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const uint8_t GYRO_REG_INT_RST_LATCH = 0x21;
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const uint8_t GYRO_REG_HIGH_TH_X = 0x22;
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const uint8_t GYRO_REG_HIGH_DUR_X = 0x23;
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const uint8_t GYRO_REG_HIGH_TH_Y = 0x24;
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const uint8_t GYRO_REG_HIGH_DUR_Y = 0x25;
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const uint8_t GYRO_REG_HIGH_TH_Z = 0x26;
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const uint8_t GYRO_REG_HIGH_DUR_Z = 0x27;
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const uint8_t GYRO_REG_SOC = 0x31;
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const uint8_t GYRO_REG_A_FOC = 0x32;
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const uint8_t GYRO_REG_TRIM_NVM_CTRL = 0x33;
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const uint8_t GYRO_REG_BGW_SPI3_WDT = 0x34;
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const uint8_t GYRO_REG_OFC1 = 0x36;
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const uint8_t GYRO_REG_OFC2 = 0x37;
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const uint8_t GYRO_REG_OFC3 = 0x38;
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const uint8_t GYRO_REG_OFC4 = 0x39;
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const uint8_t GYRO_REG_TRIM_GP0 = 0x3A;
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const uint8_t GYRO_REG_TRIM_GP1 = 0x3B;
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const uint8_t GYRO_REG_BIST = 0x3C;
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const uint8_t GYRO_REG_FIFO_CONFIG_0 = 0x3D;
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const uint8_t GYRO_REG_FIFO_CONFIG_1 = 0x3E;
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const uint8_t MAG_REG_CHIP_ID = 0x40;
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const uint8_t MAG_REG_DATA_X_LSB = 0x42;
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const uint8_t MAG_REG_DATA_X_MSB = 0x43;
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@ -173,9 +125,6 @@ struct bma255_data
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int16_t accel_x;
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int16_t accel_y;
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int16_t accel_z;
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int16_t gyro_x;
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int16_t gyro_y;
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int16_t gyro_z;
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int16_t mag_x;
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int16_t mag_y;
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int16_t mag_z;
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@ -211,26 +160,13 @@ static int bma255_sample_fetch(const struct device *dev,
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data->accel_y = ((int16_t)sys_get_le16(&accel[2])) >> 4;
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data->accel_z = ((int16_t)sys_get_le16(&accel[4])) >> 4;
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uint8_t gyro[6];
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struct i2c_dt_spec gyro_bus = config->bus;
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gyro_bus.addr = 0x68;
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ret = i2c_burst_read_dt(&gyro_bus, GYRO_REG_RATE_X_LSB, gyro, sizeof(gyro));
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if (ret < 0)
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{
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LOG_ERR("Failed to read gyro registers!");
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return ret;
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}
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data->gyro_x = ((int16_t)sys_get_le16(&gyro[0]));
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data->gyro_y = ((int16_t)sys_get_le16(&gyro[2]));
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data->gyro_z = ((int16_t)sys_get_le16(&gyro[4]));
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uint8_t mag[6];
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struct i2c_dt_spec mag_bus = config->bus;
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mag_bus.addr = 0x10;
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ret = i2c_burst_read_dt(&mag_bus, MAG_REG_DATA_X_LSB, mag, sizeof(mag));
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if (ret < 0)
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{
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LOG_ERR("Failed to read gyro registers!");
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LOG_ERR("Failed to read mag registers!");
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return ret;
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}
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data->mag_x = ((int16_t)sys_get_le16(&mag[0])) >> 1;
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@ -289,28 +225,6 @@ static int bma255_channel_get(const struct device *dev,
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val->val2 = (accel - val->val1) * 1000000;
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break;
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}
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// radians/second
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case SENSOR_CHAN_GYRO_X:
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{
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float rate = data->gyro_x * 2000.0 / 32767;
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val->val1 = rate;
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val->val2 = (rate - val->val1) * 1000000;
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break;
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}
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case SENSOR_CHAN_GYRO_Y:
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{
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float rate = data->gyro_y * 2000.0 / 32767;
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val->val1 = rate;
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val->val2 = (rate - val->val1) * 1000000;
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break;
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}
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case SENSOR_CHAN_GYRO_Z:
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{
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float rate = data->gyro_z * 2000.0 / 32767;
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val->val1 = rate;
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val->val2 = (rate - val->val1) * 1000000;
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break;
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}
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// Gauss
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case SENSOR_CHAN_MAGN_X:
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{
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@ -394,21 +308,6 @@ static int bma255_init(const struct device *dev)
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uint8_t hbw = (1 << 7); // data_high_bw (read filtered data) and enable lsb/msb shadowing
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i2c_burst_write_dt(&config->bus, ACCEL_REG_ACCD_HBW, &hbw, sizeof(hbw));
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struct i2c_dt_spec gyro_bus = config->bus;
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gyro_bus.addr = 0x68;
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uint8_t gyro_chip_id;
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ret = i2c_burst_read_dt(&gyro_bus, GYRO_REG_CHIP_ID, &gyro_chip_id, sizeof(gyro_chip_id));
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if (ret < 0)
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{
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LOG_ERR("Failed to read gyro chip ID register!");
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return ret;
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}
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const uint8_t GYRO_CHIP_ID = 0x0f;
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if (gyro_chip_id != GYRO_CHIP_ID)
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{
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LOG_ERR("Gyro chip ID read from %s incorrect. Read 0x%02X, expected 0x%02X", dev->name, gyro_chip_id, GYRO_CHIP_ID);
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}
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struct i2c_dt_spec mag_bus = config->bus;
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mag_bus.addr = 0x10;
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2
drivers/sensor/bmg160/CMakeLists.txt
Normal file
2
drivers/sensor/bmg160/CMakeLists.txt
Normal file
@ -0,0 +1,2 @@
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zephyr_library()
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zephyr_library_sources(bmg160.c)
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17
drivers/sensor/bmg160/Kconfig
Normal file
17
drivers/sensor/bmg160/Kconfig
Normal file
@ -0,0 +1,17 @@
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config BMG160
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bool "BMG160"
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default y
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depends on DT_HAS_BOSCH_BMG160_ENABLED
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help
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Enable driver for BMG160.
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if BMG160
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config BMG160_TRIGGER
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bool "BMG160 trigger mode"
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depends on BMG160
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help
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Set to enable trigger mode using gpio interrupt, where
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interrupts are configured to line ALERT PIN.
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endif # BMG160
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189
drivers/sensor/bmg160/bmg160.c
Normal file
189
drivers/sensor/bmg160/bmg160.c
Normal file
@ -0,0 +1,189 @@
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/*
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* Copyright (c) 2021 Nordic Semiconductor ASA
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* SPDX-License-Identifier: Apache-2.0
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*/
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#define DT_DRV_COMPAT bosch_bmg160
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#include <zephyr/device.h>
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#include <zephyr/drivers/gpio.h>
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#include <zephyr/drivers/i2c.h>
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#include <zephyr/drivers/sensor.h>
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#include <zephyr/sys/byteorder.h>
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#include <zephyr/logging/log.h>
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LOG_MODULE_REGISTER(bmg160, CONFIG_SENSOR_LOG_LEVEL);
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const uint8_t GYRO_REG_CHIP_ID = 0x00;
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const uint8_t GYRO_REG_RATE_X_LSB = 0x02;
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const uint8_t GYRO_REG_RATE_X_MSB = 0x03;
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const uint8_t GYRO_REG_RATE_Y_LSB = 0x04;
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const uint8_t GYRO_REG_RATE_Y_MSB = 0x05;
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const uint8_t GYRO_REG_RATE_Z_LSB = 0x06;
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const uint8_t GYRO_REG_RATE_Z_MSB = 0x07;
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const uint8_t GYRO_REG_INT_STATUS_0 = 0x09;
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const uint8_t GYRO_REG_INT_STATUS_1 = 0x0A;
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const uint8_t GYRO_REG_INT_STATUS_2 = 0x0B;
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const uint8_t GYRO_REG_INT_STATUS_3 = 0x0C;
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const uint8_t GYRO_REG_FIFO_STATUS = 0x0E;
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const uint8_t GYRO_REG_RANGE = 0x0F;
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const uint8_t GYRO_REG_BW = 0x10;
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const uint8_t GYRO_REG_LPM1 = 0x11;
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const uint8_t GYRO_REG_LPM2 = 0x12;
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const uint8_t GYRO_REG_RATE_HBW = 0x13;
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const uint8_t GYRO_REG_BGW_SOFTRESET = 0x14;
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const uint8_t GYRO_REG_INT_EN_0 = 0x15;
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const uint8_t GYRO_REG_INT_EN_1 = 0x16;
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const uint8_t GYRO_REG_INT_MAP_0 = 0x17;
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const uint8_t GYRO_REG_INT_MAP_1 = 0x18;
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const uint8_t GYRO_REG_INT_MAP_2 = 0x19;
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const uint8_t GYRO_REG_INT_SOURCE_1 = 0x1A;
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const uint8_t GYRO_REG_INT_SOURCE_2 = 0x1B;
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// const uint8_t GYRO_REG_ = 0x1C;
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// const uint8_t GYRO_REG_ = 0x1E;
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const uint8_t GYRO_REG_INT_RST_LATCH = 0x21;
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const uint8_t GYRO_REG_HIGH_TH_X = 0x22;
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const uint8_t GYRO_REG_HIGH_DUR_X = 0x23;
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const uint8_t GYRO_REG_HIGH_TH_Y = 0x24;
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const uint8_t GYRO_REG_HIGH_DUR_Y = 0x25;
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const uint8_t GYRO_REG_HIGH_TH_Z = 0x26;
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const uint8_t GYRO_REG_HIGH_DUR_Z = 0x27;
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const uint8_t GYRO_REG_SOC = 0x31;
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const uint8_t GYRO_REG_A_FOC = 0x32;
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const uint8_t GYRO_REG_TRIM_NVM_CTRL = 0x33;
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const uint8_t GYRO_REG_BGW_SPI3_WDT = 0x34;
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const uint8_t GYRO_REG_OFC1 = 0x36;
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const uint8_t GYRO_REG_OFC2 = 0x37;
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const uint8_t GYRO_REG_OFC3 = 0x38;
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const uint8_t GYRO_REG_OFC4 = 0x39;
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const uint8_t GYRO_REG_TRIM_GP0 = 0x3A;
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const uint8_t GYRO_REG_TRIM_GP1 = 0x3B;
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const uint8_t GYRO_REG_BIST = 0x3C;
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const uint8_t GYRO_REG_FIFO_CONFIG_0 = 0x3D;
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const uint8_t GYRO_REG_FIFO_CONFIG_1 = 0x3E;
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struct bmg160_data
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{
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int16_t gyro_x;
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int16_t gyro_y;
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int16_t gyro_z;
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int8_t temperature; // FIXME: does gyro have die temp sensor?
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};
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struct bmg160_config
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{
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struct i2c_dt_spec bus;
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};
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static int bmg160_sample_fetch(const struct device *dev,
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enum sensor_channel chan)
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{
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const struct bmg160_config *config = dev->config;
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struct bmg160_data *data = dev->data;
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int ret;
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uint8_t gyro[6];
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ret = i2c_burst_read_dt(&config->bus, GYRO_REG_RATE_X_LSB, gyro, sizeof(gyro));
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if (ret < 0)
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{
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LOG_ERR("Failed to read gyro registers!");
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return ret;
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}
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data->gyro_x = ((int16_t)sys_get_le16(&gyro[0]));
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data->gyro_y = ((int16_t)sys_get_le16(&gyro[2]));
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data->gyro_z = ((int16_t)sys_get_le16(&gyro[4]));
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return 0;
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}
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static int bmg160_channel_get(const struct device *dev,
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enum sensor_channel chan,
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struct sensor_value *val)
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{
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struct bmg160_data *data = dev->data;
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switch (chan)
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{
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// // degrees C
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// case SENSOR_CHAN_DIE_TEMP:
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// // 0.5K/LSB, center temperature is 23C
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// val->val1 = 23 + data->temperature / 2;
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// val->val2 = 0; // TODO: don't throw out LSB
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// break;
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// radians/second
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case SENSOR_CHAN_GYRO_X:
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{
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float rate = data->gyro_x * 2000.0 / 32767;
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val->val1 = rate;
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val->val2 = (rate - val->val1) * 1000000;
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break;
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}
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case SENSOR_CHAN_GYRO_Y:
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{
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float rate = data->gyro_y * 2000.0 / 32767;
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val->val1 = rate;
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val->val2 = (rate - val->val1) * 1000000;
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break;
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}
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case SENSOR_CHAN_GYRO_Z:
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{
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float rate = data->gyro_z * 2000.0 / 32767;
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val->val1 = rate;
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val->val2 = (rate - val->val1) * 1000000;
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break;
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}
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default:
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return -ENOTSUP;
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}
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return 0;
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}
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static const struct sensor_driver_api bmg160_api = {
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.sample_fetch = &bmg160_sample_fetch,
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.channel_get = &bmg160_channel_get,
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};
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static int bmg160_init(const struct device *dev)
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{
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const struct bmg160_config *const config = dev->config;
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int ret;
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if (!device_is_ready(config->bus.bus))
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{
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LOG_ERR("I2C bus %s is not ready", config->bus.bus->name);
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return -ENODEV;
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}
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// TODO: reset IC?
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// Wait for device to reset
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uint8_t gyro_chip_id;
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ret = i2c_burst_read_dt(&config->bus, GYRO_REG_CHIP_ID, &gyro_chip_id, sizeof(gyro_chip_id));
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if (ret < 0)
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{
|
||||
LOG_ERR("Failed to read gyro chip ID register!");
|
||||
return ret;
|
||||
}
|
||||
const uint8_t GYRO_CHIP_ID = 0x0f;
|
||||
if (gyro_chip_id != GYRO_CHIP_ID)
|
||||
{
|
||||
LOG_ERR("Gyro chip ID read from %s incorrect. Read 0x%02X, expected 0x%02X", dev->name, gyro_chip_id, GYRO_CHIP_ID);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
#define BMG160_INIT(i) \
|
||||
static struct bmg160_data bmg160_data_##i; \
|
||||
\
|
||||
static const struct bmg160_config bmg160_config_##i = { \
|
||||
.bus = I2C_DT_SPEC_INST_GET(i), \
|
||||
}; \
|
||||
\
|
||||
SENSOR_DEVICE_DT_INST_DEFINE(i, &bmg160_init, NULL, \
|
||||
&bmg160_data_##i, \
|
||||
&bmg160_config_##i, POST_KERNEL, \
|
||||
CONFIG_SENSOR_INIT_PRIORITY, &bmg160_api);
|
||||
|
||||
DT_INST_FOREACH_STATUS_OKAY(BMG160_INIT)
|
2
drivers/sensor/bmm150/CMakeLists.txt
Normal file
2
drivers/sensor/bmm150/CMakeLists.txt
Normal file
@ -0,0 +1,2 @@
|
||||
zephyr_library()
|
||||
# zephyr_library_sources(bmm150.c)
|
Reference in New Issue
Block a user